Sensor Height

[haider8645]

Hello!

could you please tell me the sensor height of the Velodyne VLP-16 during data collection?

Best regards,
Haider

[robot-pesg]

@haider8645

The transformation matrix of VLP-16 LiDAR center in Robot bottom plane (ground) is:

T_gnd_vlp =

0.999678872580465 0.025286566442932 0.001504222922349 0.085736778152775
-0.025272343896077 0.999649431893338 -0.007802543414159 0.003704199667663
-0.001701039294055 0.007762982379262 0.999967893719160 1.163575521980526
0 0 0 1.000000000000000

indicating that the height of VLP-16 with respect to ground is around 1.164m

[haider8645]

Thanks!!